#include "ne_ds.h"
#include "openManipulatorTrajectoryPlanning_6a081443_2_ds_sys_struct.h"
#include "openManipulatorTrajectoryPlanning_6a081443_2_ds_f.h"
#include "openManipulatorTrajectoryPlanning_6a081443_2_ds.h"
#include "openManipulatorTrajectoryPlanning_6a081443_2_ds_externals.h"
#include "openManipulatorTrajectoryPlanning_6a081443_2_ds_external_struct.h"
#include "ssc_ml_fun.h"
int32_T openManipulatorTrajectoryPlanning_6a081443_2_ds_f ( const
NeDynamicSystem * sys , const NeDynamicSystemInput * t4 , NeDsMethodOutput *
t5 ) { PmRealVector out ; real_T U_idx_0 ; real_T X_idx_0 ; real_T X_idx_1 ;
real_T intrm_sf_mf_0 ; real_T intrm_sf_mf_4 ; real_T t2 ; U_idx_0 = t4 -> mU
. mX [ 0 ] ; X_idx_0 = t4 -> mX . mX [ 0 ] ; X_idx_1 = t4 -> mX . mX [ 1 ] ;
out = t5 -> mF ; intrm_sf_mf_0 = ( X_idx_0 - 0.0125 ) * 10000.0 + U_idx_0 *
150.0 ; U_idx_0 = ( X_idx_0 - - 0.01 ) * 10000.0 + U_idx_0 * 150.0 ;
intrm_sf_mf_4 = ( X_idx_0 - 0.0125 ) / 0.0001 ; t2 = intrm_sf_mf_4 *
intrm_sf_mf_4 * 3.0 - intrm_sf_mf_4 * intrm_sf_mf_4 * intrm_sf_mf_4 * 2.0 ;
intrm_sf_mf_4 = ( - 0.01 - X_idx_0 ) / 0.0001 ; if ( X_idx_0 >= 0.0126 ) {
intrm_sf_mf_4 = X_idx_1 - ( real_T ) ( intrm_sf_mf_0 >= 0.0 ) * intrm_sf_mf_0
; } else if ( X_idx_0 >= 0.0125 ) { intrm_sf_mf_4 = X_idx_1 - ( real_T ) (
intrm_sf_mf_0 >= 0.0 ) * intrm_sf_mf_0 * t2 ; } else if ( X_idx_0 > - 0.01 )
{ intrm_sf_mf_4 = X_idx_1 ; } else if ( X_idx_0 > - 0.0101 ) { intrm_sf_mf_4
= X_idx_1 - ( real_T ) ( U_idx_0 <= 0.0 ) * U_idx_0 * ( intrm_sf_mf_4 *
intrm_sf_mf_4 * 3.0 - intrm_sf_mf_4 * intrm_sf_mf_4 * intrm_sf_mf_4 * 2.0 ) ;
} else { intrm_sf_mf_4 = X_idx_1 - ( real_T ) ( U_idx_0 <= 0.0 ) * U_idx_0 ;
} out . mX [ 0 ] = - 0.0 ; out . mX [ 1 ] = intrm_sf_mf_4 ; ( void ) sys ; (
void ) t5 ; return 0 ; }
